External Axis E1 : Unmaster / Remaster via KRL

    Good afternoon Forum,

    What do they say...NEVER make changes on a Friday.....What have I been asked to do an hour before "GoHome time" = #Grrr.

    Tech specs:

    KR3 - R540

    KRC4 Compact

    KSS 8.6.6

    Additional axis

    Query:

    Rotary table ( E1 ) to act like a chuck in a lathe - continous motion while robot linearly moves up a valve stem. Exact rotation vrs linear displacement is W.I.P.

    WoV:

    I have this external axis set up as : ENDLESS.

    .SRC:

    I set the .E1 as : ASYNC

    I then use : ASYPTP {E1 20000.0}#AS_PROG

    Then LIN move the axis from point A to point B.......The number of rotations of .E1 is matched to the linear displacement.(Crude I know)


    Next linear move I go the opposite way :to decrement the stack up of degree's : ASYPTP {E1 -20000.0}#AS_PROG

    Then LIN move the axis from point B to point A

    Problem query:

    I sometimes have a delta between the physical and resolver 0 degree. Therefore making my displacement vrs rotations a load of tosh...

    Is there a way for me to Unmaster and then Remaster in KRL as this resets the overflow and therefore I can drive to .E1 0.0 PRE any measured LIN movements?.

    I note this isn't great, but sadly this process does not suite using a KUKA external axis to be a spindle like device...However, I'm having to work with what I have currently.

    any help / offerings GREATLY received..

    Have a good weekend community

Advertising from our partners